CN111347455A - Flexible finger with online adjustable friction force - Google Patents
Flexible finger with online adjustable friction force Download PDFInfo
- Publication number
- CN111347455A CN111347455A CN202010173454.4A CN202010173454A CN111347455A CN 111347455 A CN111347455 A CN 111347455A CN 202010173454 A CN202010173454 A CN 202010173454A CN 111347455 A CN111347455 A CN 111347455A
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- China
- Prior art keywords
- finger
- execution module
- air
- soft
- fingertip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
The invention discloses a soft finger with adjustable friction force on line, and aims to provide a soft finger with adjustable friction force on line and capable of realizing multiple grabbing modes. The friction-variable executing module is arranged on one side of the base body, which is in contact with the object; the variable friction execution module comprises an elastic membrane, and at least one air cavity is hermetically arranged between the elastic membrane and the base body; the gas entering the gas cavity drives the elastic membrane to deform, and the pressure of the gas is adjusted to control the deformation degree of the elastic membrane so as to realize the online adjustment of the friction force. The base body comprises a soft actuator, the soft actuator comprises a fingertip execution module, a middle finger execution module and a finger root execution module, and independent air network type structures are respectively arranged in the fingertip execution module, the middle finger execution module and the finger root execution module. The soft finger changes the contact force between the soft finger and the object to be grabbed, realizes the on-line adjustment of the grabbing friction force, and realizes various grabbing modes by controlling the inflation sequence of the execution module.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a soft finger with adjustable friction force on line.
Background
As a branch of the field of soft robots, soft manipulators have been rapidly developed in recent years.
At present, the soft manipulator mainly has several driving methods such as linear type, pneumatic type, shape memory material driving type, etc. The pneumatic soft manipulator has the advantages that the power source is high-pressure gas, compared with other driving forms, the pneumatic driving has the characteristics of easily available gas source, low cost, environmental friendliness and the like, and the pneumatic soft manipulator becomes the most popular soft manipulator at present.
The finger part of the existing pneumatic soft mechanical hand is mostly of an integral air network type structure, and a plurality of air cavities forming the soft finger are driven by the same air source to simultaneously inflate so as to enable the bending curvature of each part of the finger to be consistent, thus leading to the problems that the finger grabbing mode is single and the object grabbing type is single.
With the advancement of technology, a soft mechanical arm needs to perform more and more tasks, for example, in the tactile exploration, a soft finger needs to slide slightly on the surface of an object to extract information about its texture, roughness or surface profile. In this case, the friction generated must be small to avoid inhibiting finger slippage. In the grabbing task, the generated friction force needs to be large enough, so that the problems of unstable grabbing, easy falling of grabbing and the like can be effectively avoided. However, the friction force of the existing soft finger is constant, and the requirements of different tasks cannot be met.
Disclosure of Invention
The invention aims to provide a soft finger with adjustable friction force on line and capable of realizing multiple grabbing modes aiming at the technical defects in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a soft finger with online adjustable friction force comprises a base body and a variable friction execution module, wherein the variable friction execution module is arranged on one side, which is in contact with an object, of the base body; the variable friction execution module comprises an elastic membrane, and at least one air cavity is arranged between the elastic membrane and the base body in a sealing manner; the gas entering the gas cavity drives the elastic membrane to deform, and the pressure of the gas is adjusted to control the deformation degree of the elastic membrane so as to realize the online adjustment of the friction force; the base body comprises a soft actuator, the soft actuator comprises a fingertip execution module, a middle finger execution module and a finger root execution module, and independent air network type structures are respectively arranged in the fingertip execution module, the middle finger execution module and the finger root execution module.
The base body is composed of the soft actuator, an upper base plate, a non-extensible layer and a lower base plate which are sequentially arranged, and the variable friction execution module is arranged at the lower base plate.
The finger center execution module comprises a plurality of finger center air cavities which are communicated with one another and sealed through the upper bottom plate to form a finger center air network type structure, and the outer contour of each finger center air cavity is wedge-shaped; gaps are formed between the outer walls of the air cavities in adjacent fingers.
The fingertip execution module comprises a plurality of fingertip air cavities which are mutually communicated and sealed through the upper base plate to form an air network type structure, and a gap is formed between the outer walls of the adjacent fingertip air cavities.
The finger root execution module comprises a plurality of finger root air cavities which are communicated with each other and sealed by the upper bottom plate to form an air network type structure, and a gap is formed between the outer walls of the adjacent finger root air cavities.
When the variable friction execution module is provided with a plurality of air cavities, the adjacent air cavities are communicated through air cavity channels and sealed through the lower bottom plate to form an air net type structure.
Compared with the prior art, the invention has the beneficial effects that:
1. the variable friction execution module is arranged in the soft finger, and the expansion degree of the elastic membrane can be adjusted by controlling the pressure of the air source, so that the contact force between the soft finger and a grabbed object is changed, the on-line adjustment of the grabbing friction force of the soft finger is realized, and the grabbing is more stable. Meanwhile, the method can adapt to different grabbing tasks.
2. The soft finger provided by the invention is provided with 3 execution modules, each execution module is provided with an independent air network structure, different execution modules are controlled to act through respective air sources, various grabbing modes can be realized by controlling the inflation sequence of the execution modules, and the problems of grabbing instability and the like are effectively solved. Moreover, the structure is simple and the manufacture is easy.
3. The soft finger can grasp an object with smaller pressure under the condition of larger friction force, and can ensure the safety of flexible and fragile objects to the maximum extent.
4. The outline of the part air cavity in the finger of the soft finger is designed in a wedge shape, so that the part has certain reverse bending capacity similar to that of a human finger joint, the tail end of the soft finger has the capacity of larger contact area with an object, and the grabbing stability is further improved.
5. The soft finger has strong environmental adaptability and simple maintenance, uses an air source as a power source, is easy to obtain and is very environment-friendly.
Drawings
FIG. 1 is a schematic view of a soft finger with an on-line adjustable friction force according to the present invention;
FIG. 2 is a schematic view of a half-section of a soft actuator;
FIG. 3 is a schematic structural diagram of a variable friction actuator module;
fig. 4 is a schematic view of the general assembly structure of the soft manipulator.
Detailed Description
The invention is described in detail below with reference to the figures and specific examples.
The structure schematic diagram of the soft finger with the online adjustable friction force is shown in fig. 1-3, and comprises a base body and a variable friction execution module 5, wherein the variable friction execution module 5 is arranged on one side of the base body, which is in contact with an object. The variable friction execution module 5 comprises an elastic membrane 5-4, and at least one air cavity 5-2 is hermetically arranged between the elastic membrane 5-4 and the substrate; the gas entering the air cavity 5-2 drives the elastic membrane 5-4 to deform. And adjusting the pressure of the gas to control the deformation degree of the elastic membrane 5-4 to realize the online adjustment of the friction force. The base body comprises a soft actuator 1, the soft actuator 1 comprises a fingertip execution module 1-3, a middle finger execution module 1-2 and a finger root execution module 1-1, and independent air network type structures are respectively arranged in the fingertip execution module 1-3, the middle finger execution module 1-2 and the finger root execution module 1-3.
The base body can adopt a structure in the prior art, in this embodiment, the base body is composed of the software actuator 1, the upper base plate 2, the inextensible layer 3 and the lower base plate 4 which are sequentially arranged, and the variable friction execution module 5 is arranged at the lower base plate 4. According to the adjustment requirement of the friction force, the variable friction execution module can be arranged at the position of the lower bottom plate 4 corresponding to the fingertip execution module 1-3, the middle finger execution module 1-2 or the root finger execution module 1-1, or the length of the variable friction execution module can be the same as that of the lower bottom plate 4.
The finger center execution module 1-2 in the embodiment comprises a plurality of finger center air chambers 1-2-1, and the finger center air chambers 1-2-1 are communicated with each other through finger center air chamber channels 1-2-2 and sealed through the upper bottom plate 2 to form a finger center air net type structure. The outer contour of each finger air cavity 1-2-1 is wedge-shaped, the top of each finger air cavity forms a wedge-shaped chamfer, and a gap is formed between the outer walls of the adjacent finger air cavities 1-2-1. The finger middle air cavity 1-2-1 is connected with an air source used for driving the finger, and the finger middle air cavity drives the finger middle execution module 1-2 to act through the finger middle air source.
In this embodiment, the fingertip execution module 1-3 includes a plurality of fingertip air cavities 1-3-1, the plurality of fingertip air cavities 1-3-1 are mutually communicated through fingertip air cavity channels 1-3-2 and sealed through the upper base plate 2 to form an air mesh type structure of a fingertip, and a gap is formed between outer walls of the adjacent fingertip air cavities 1-3-1. The fingertip air cavity 1-3-1 is connected with an air source for driving a fingertip, and the fingertip execution module 1-3 is driven to act through the fingertip air source.
In this embodiment, the finger root execution module 1-1 includes a plurality of finger root air cavities 1-1-1, the plurality of finger root air cavities 1-1-1 are communicated with each other through finger root air cavity channels 1-1-2 and sealed through the upper base plate 2 to form a finger root air network structure, and a gap is formed between outer walls of the adjacent finger root air cavities 1-1-1. The finger root air cavity 1-1-1 is connected with an air source for driving the finger root, and the finger root execution module 1-1 is driven to act through the finger root air source.
When the variable friction execution module 5 is provided with a plurality of air cavities 5-1, the adjacent air cavities 5-1 are communicated through air cavity channels 5-2, the air cavities 5-1 are sealed through a lower bottom plate 4 to form an air network type structure, the air network type structure is connected with an air source through air channels 5-3, air entering the air cavities 5-1 drives the elastic membrane 5-4 to deform, and the pressure of the air is adjusted to control the deformation degree of the elastic membrane 5-4 so as to realize the online adjustment of the friction force.
The structure schematic diagram of the soft manipulator composed of the soft fingers of the invention is shown in fig. 4, and the soft manipulator comprises a bracket II and the soft fingers I of the invention.
The soft actuator 1, the upper base plate 2, the lower base plate 4 and the variable friction execution module 5 are all made of DragonSkin 30 silicon rubber, the inextensible layers 3 are embedded in the upper base plate and the lower base plate of the soft actuator, and the soft actuator 1 is integrally cast.
The working principle of the invention is as follows:
when the pneumatic finger is used, compressed air respectively enters the air network type structures of the fingertip execution module 1-3, the middle finger execution module 1-2 and the finger root execution module 1-1 of the soft finger I through the hoses connected with the compressed air respectively. The finger tip execution module 1-3, the finger middle execution module 1-2 and the finger root execution module 1-1 are inflated and then expanded, the inextensible layer 3 of the soft finger I restricts the expansion of the lower bottom plate 4, and then the soft finger I realizes the bending action towards the lower bottom plate 4. The bending angle of the soft finger I is in direct proportion to the input pressure. When negative pressure is provided for the chambers of the fingertip execution module 1-3, the middle finger execution module 1-2 and the root execution module 1-1, the middle finger execution module 1-2 in the soft body execution module 1 can generate larger reverse bending due to the wedge chamfer at the top.
Meanwhile, compressed air enters the air network type structure of the variable friction execution module 5 through the hose and the air channel 5-3, the elastic membrane 5-1 expands outwards under the action of air, the expansion displacement is in direct proportion to the air pressure, and the size of the expansion displacement influences the friction force between the grabbed object and the soft finger.
When the soft manipulator grabs an object, the inflation and deflation sequence of the fingertip execution module 1-3, the middle finger execution module 1-2 and the finger root execution module 1-1 of the soft finger I is controlled, so that the soft manipulator can realize different grabbing modes. When the three execution modules are inflated, the whole soft finger I is bent inwards, so that a larger object can be wrapped and grabbed; when the finger root execution module 1-1 is only filled with gas, the finger root execution module 1-1 bends towards the inner side, the finger middle execution module 1-2 and the fingertip execution module 1-3 serve as passive compliant mechanisms, the finger middle execution module 1-2 bends reversely under the reaction force of a gripped object, the reverse bending stops to a certain degree, the fingertip execution module 1-3 forms plane contact with the object, the contact area of the fingertip execution module 1-3 and the object is increased, and the object can be clamped and gripped; when the finger root execution module 1-1 and the fingertip execution module 1-3 are filled with gas, the finger root execution module 1-1 and the fingertip execution module 1-3 bend inwards, the finger middle execution module 1-2 serves as a passive flexible mechanism and bends reversely to a certain degree to stop, the air pressure of the fingertip execution module 1-3 is adjusted to enable the bending angle to be matched with the bottom shape of an object, and a semi-wrapping grabbing mode of the object can be achieved.
In order to improve the grabbing stability, the friction force between the grabbed object and a soft finger needs to be adjusted, the air cavity of the variable friction execution module 5 is inflated, the fingertip execution module 1-3 drives the variable friction execution module 5 to be in contact with the grabbed object, and in the grabbing process, the expansion degree of the elastic membrane 5-1 can be adjusted by controlling the air pressure filled into the variable friction execution module 5 on line according to grabbing performance, so that the contact force between the variable friction execution module 5 and the grabbed object is changed, and the friction force is controlled on line.
The soft finger of the invention can make the soft manipulator with multiple grabbing modes, large output force, simple structure, adjustable finger tip friction on line and the like. According to the size of the object to be grabbed, different grabbing modes can be realized by controlling the inflation sequence of each module, and a stable grabbing effect is obtained. Meanwhile, each soft finger tip is integrated with a friction force adjustable structure, and the friction force of the finger tip is adjusted on line by controlling the air pressure, so that the finger tip is suitable for different grabbing tasks.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A soft finger with online adjustable friction force is characterized by comprising a base body and a variable friction execution module, wherein the variable friction execution module is arranged on one side, which is in contact with an object, of the base body; the variable friction execution module comprises an elastic membrane, and at least one air cavity is arranged between the elastic membrane and the base body in a sealing manner; the gas entering the gas cavity drives the elastic membrane to deform, and the pressure of the gas is adjusted to control the deformation degree of the elastic membrane so as to realize the online adjustment of the friction force; the base body comprises a soft actuator, the soft actuator comprises a fingertip execution module, a middle finger execution module and a finger root execution module, and independent air network type structures are respectively arranged in the fingertip execution module, the middle finger execution module and the finger root execution module.
2. The online adjustable soft finger of claim 1, wherein the base body is composed of the soft actuator, an upper base plate, a non-extendable layer and a lower base plate, which are arranged in sequence, and the variable friction actuating module is arranged at the lower base plate.
3. The online adjustable friction soft finger according to claim 2, wherein the finger center execution module comprises a plurality of finger center air chambers which are communicated with each other and sealed by the upper bottom plate to form a finger center air net type structure, and the outer contour of each finger center air chamber is wedge-shaped; gaps are formed between the outer walls of the air cavities in adjacent fingers.
4. The online adjustable soft finger of claim 2, wherein the fingertip execution module comprises a plurality of fingertip air cavities, the fingertip air cavities are communicated with each other and sealed by the upper base plate to form an air network type structure, and a gap is formed between the outer walls of the adjacent fingertip air cavities.
5. The online adjustable friction soft finger according to claim 2, wherein the finger root execution module comprises a plurality of finger root air chambers, the plurality of finger root air chambers are communicated with each other and sealed by the upper bottom plate to form an air net type structure, and a gap is formed between the outer walls of the adjacent finger root air chambers.
6. The online adjustable friction soft finger according to claim 2, wherein when the variable friction actuating module has a plurality of air chambers, the adjacent air chambers are communicated with each other through air chamber channels and sealed by the lower bottom plate to form an air net type structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010173454.4A CN111347455A (en) | 2020-03-13 | 2020-03-13 | Flexible finger with online adjustable friction force |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010173454.4A CN111347455A (en) | 2020-03-13 | 2020-03-13 | Flexible finger with online adjustable friction force |
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| CN111347455A true CN111347455A (en) | 2020-06-30 |
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| CN202010173454.4A Pending CN111347455A (en) | 2020-03-13 | 2020-03-13 | Flexible finger with online adjustable friction force |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425768A (en) * | 2022-03-31 | 2022-05-03 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114425768B (en) * | 2022-03-31 | 2022-08-12 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
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